CN107838943B - A kind of multi-angle mount type industrial carrying machine people - Google Patents

A kind of multi-angle mount type industrial carrying machine people Download PDF

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Publication number
CN107838943B
CN107838943B CN201711284331.2A CN201711284331A CN107838943B CN 107838943 B CN107838943 B CN 107838943B CN 201711284331 A CN201711284331 A CN 201711284331A CN 107838943 B CN107838943 B CN 107838943B
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China
Prior art keywords
joint
hole
rotation seat
fixed block
mount type
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CN201711284331.2A
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Chinese (zh)
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CN107838943A (en
Inventor
周利锋
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Wuxi Ai Du Science And Technology Ltd
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Wuxi Ai Du Science And Technology Ltd
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Priority to CN201711284331.2A priority Critical patent/CN107838943B/en
Publication of CN107838943A publication Critical patent/CN107838943A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054Cooling means

Abstract

The present invention relates to industrial machinery technical fields, in particular a kind of multi-angle mount type industrial carrying machine people, including fixing seat, the surface of fixing seat is equipped with rotation seat, the surface of rotation seat is equipped with the first joint, first joint one end is equipped with principal arm and is rotatablely connected with one end of principal arm, one end of principal arm is equipped with second joint and is rotatablely connected with second joint, one end of second joint is equipped with the first fixed block, first fixed block side is equipped with the second fixed block in parallel, one end of second fixed block is equipped with clip claw assembly, the four corners of rotation seat are equipped with elevating mechanism, the bottom end of rotation seat is equipped with clamping installing mechanism, the surface of rotation seat is equipped with support base, the top of support base is equipped with radiator, any different mechanism is realized and clamps installation, with very strong adaptability, and it is each to entire robot only to need a radiator to realize The motor and joint-friction in joint radiate, and robot is made uniformly to radiate during the work time, increase the service life of robot.

Description

A kind of multi-angle mount type industrial carrying machine people
Technical field
The present invention relates to industrial machinery technical field, specially a kind of multi-angle mount type industrial carrying machine people.
Background technique
Industrial robot is multi-joint manipulator or multivariant robot towards industrial circle, is automatic execution work The installations of work realize a kind of machine of various functions by self power and control ability.By main body, drive system and control Three essential part compositions of system processed.It can receive mankind commander, can also run according to the program of preparatory layout, modern The principle program action that industrial robot can also be formulated according to artificial intelligence technology.The typical case of industrial robot includes weldering It connects, mopping, assembling, acquisition and placement, product testing and test etc.;The completion of all work all have high efficiency, persistence, Speed and accuracy, industrial robot in the prior art is all the clamping that clamping device is controlled by cylinder, but cylinder Transmission accuracy is not high, and clamping is easy to cause to differ in weight, and the kind of drive of rack-and-pinion can bring biggish frictional force, leads to institute Need power bigger, waste of energy, and wear larger, service life is low, and industrial robot is merely able in fixed height It is worked and is installed, need to use by being mounted on other machines when needing to clamp the article of different height, no It is only inconvenient, and cost is increased, and the heat that servo motor generates at work is difficult to uniformly radiate, in view of This, it is proposed that a kind of multi-angle mount type industrial carrying machine people.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-angle mount type industrial carrying machine people, to solve above-mentioned background technique The problem of middle proposition.
To achieve the above object, the invention provides the following technical scheme:
The surface of a kind of multi-angle mount type industrial carrying machine people, including fixing seat, the fixing seat are equipped with rotation seat, The surface of the rotation seat is equipped with the first joint, and first joint one end is equipped with principal arm and is rotatablely connected with one end of principal arm, One end of the principal arm is equipped with second joint and is rotatablely connected with second joint, and it is fixed that one end of the second joint is equipped with first The side of block, first fixed block is equipped with the second fixed block in parallel, and the four corners of second fixed block are equipped with Fixation hole, and be fixedly connected between fixation hole by four connecting columns, one end of second fixed block is equipped with clip claw assembly, institute The four corners for stating rotation seat are equipped with elevating mechanism, and the bottom end of the rotation seat is equipped with clamping installing mechanism, the rotation seat Surface is equipped with support base, and the top of the support base is equipped with radiator.
Preferably, the surface of the rotation seat is equipped with first servo motor, the output shaft of the first servo motor is worn The motor axis hole crossed on the rotation seat is simultaneously coaxially provided with pinion gear between the rotation seat and the fixing seat, the small tooth The side of wheel is equipped with gear wheel and engages with the gear wheel, and the top of the gear wheel is fixedly connected with rotation seat, described big The bottom end of gear and fixing seat are rotatablely connected.
Preferably, the side in first joint is equipped with the second servo motor for driving principal arm to rotate, the master One end side wall of arm is equipped with the third servo motor for driving second joint to rotate, first fixed block and described second The 4th servo motor is equipped between fixed block.
Preferably, the clip claw assembly includes the lead screw being fixedly connected with the 4th servo motor output shaft, the lead screw One end at be equipped with and casing and be threadedly coupled with the screw hole in described sleeve pipe, the outer wall section of described sleeve pipe be it is oval, it is described One end of casing passes through second fixed block and is slidably connected with it, is fixedly connected with a drawing in the other end of described sleeve pipe Bar.
Preferably, the two sides of the pull rod are equipped with two fixtures, one end of two fixtures is mutually turned by shaft Dynamic connection, offers the empty slot for sliding along shaft at pull rod center, and one end of the pull rod is rotatably connected to two struts, One end of two struts is rotatablely connected with one end of two fixtures respectively, is equipped with rubber antiskid in the end of two fixtures Head.
Preferably, the support base is equipped with electric machine support, the top of the electric machine support is equipped with rocking bar motor, described The output shaft of rocking bar motor is equipped with the second rocking bar and is rotatablely connected with one end of the second rocking bar, and one end of second rocking bar is set There is the first rocking bar and is rotatablely connected with one end of the first rocking bar.
Preferably, the radiator includes protecting outside shell, the back cover of described protection shell one end and the protection The shell other end is cut a smart figure, and the inside of the protection shell is equipped with decelerating motor, the output shaft and one end of the decelerating motor Fan be fixedly and coaxially connected, it is described protection shell two sides be equipped with swing arm, one end of one of them swing arm and institute One end rotation connection of the first rocking bar is stated, another described swing arm side, which is equipped with fixed link and rotates with one end of fixed link, to be connected It connects, the other end of the fixed link is fixed on support base.
Preferably, the elevating mechanism includes four elevating levers, the every elevating lever is separately mounted to the fixation It is slidably connected in the telescopic chute that seat four corners open up and with corresponding telescopic chute respectively, it is uniformly equidistant on the every elevating lever Several limit holes are offered, through-hole corresponding with the lift pin locations is offered on the side wall of the fixing seat, it is described logical The spacer pin mating with the through-hole and limit hole is equipped in hole.
Preferably, the clamping installing mechanism include guide rail on the fixing seat bottom surface both side wall and the guide rail it Between vertically disposed two fixture blocks, be equipped with non-slip groove on the opposite facade of two fixture blocks, opened up on the inner wall of the guide rail There is sliding slot, and the both ends of fixture block are equipped with the sliding fastener being slidably connected with sliding slot.
Preferably, being uniformly equidistantly equipped with several lockable mechanisms, the surface of the guide rail on the inner wall of the sliding slot Equipped with pull rod, circular hole corresponding with the lockable mechanism position is offered on the pull rod, the lockable mechanism includes connecting rod And lock tongue, square hole corresponding with latch bolt position is offered on the inner wall of the sliding slot, the lock tongue is slidably connected with square hole, and It is fixedly connected by return spring with the inner wall of square hole, the connecting rod passes through guide rail and is slidably connected with circular hole, in the connecting rod One end be additionally provided with the anti-flake for preventing from deviating from from circular hole.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention is rotated by first servo motor band moving gear, to drive the bull gear drive engaged, is made Rotation seat can carry out ° comprehensive rotation along fixing seat, be driven respectively by the second servo motor and third servo motor The rotation in the first joint and second joint enables entire principal arm Three Degree Of Freedom activity, the joint structure of human arm is simulated, in work Excellent effect and precision are played in industry handling process.
2, the present invention by the 4th servo motor drive lead screw rotation, enable ellipse casing along the second fixed block into Row is lateral freely be retracted and stretches out, is moved forward and backward being retracted with pulling pull rod in telescopic process, is utilized the tightening force of strut The clamping and release for controlling two fixtures cooperate lead screw to be driven by the 4th servo motor, can make the clamping essence of fixture Really arrive micron, when being clamped to article will not damage product, and be driven wear small, long service life, rubber antiskid head is also Frictional force when clamping can be effectively increased, prevents from skidding.
3, by the present invention in that elevating lever raising and lowering in telescopic chute controls the height of entire robot, make machine People can freely adjust height, and being inserted into corresponding limit hole after the height for being adjusted to need with spacer pin can be completed fixation, Not only easy to operate, lifting is stablized, and substantially increases applicability of the robot when carrying to different cargos, is not necessarily to The adjusting that height is completed by other machines, realizes lifting using inexpensive mode, considerably increases the market competitiveness and production Cost.
4, the present invention drives fan quickly to rotate by decelerating motor, to generate the wind of strength, from middle blowout of cutting a smart figure, and And rocking bar motor drives the second rocking bar using motor shaft as circular rotatable, to be driven by the first rocking bar with the principle of crank rocker Swing arm is swung, and is realized entire radiator under the rotation of fixed link one end and is swung up and down, it is only necessary to which a radiator is realized It radiates to the motor and joint-friction in each joint of entire robot, has saved great amount of cost, made robot in the course of work In uniformly radiate, increase the service life of robot.
5, the present invention is to centre by promoting two fixture blocks along guide rail, sliding fastener along sliding slot to center movement During touch the cambered surface of lock tongue, lock tongue stress is retracted into square hole, while connecting rod is retracted into circular hole, in sliding fastener When crossing a lock tongue, lock tongue pop-up resets under the elastic force of return spring, and facing directly for lock tongue prevents fixture block from moving out at this time, It can constantly make fixture block that can not only carry out on level land to center movement with any part in some machines that is fixedly clamped It installs and uses, can be mounted in other mechanisms and be used with any angle, and dismantle simply, only need to pull up pull rod, The Anti-extrusion effect of anti-flake is lower to pull all lock tongues to make its retraction, and fixture block can be made to unclamp, easy to operate, can arbitrarily adjust The distance between fixture block realizes any different mechanism and clamps installation, has very strong adaptability.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram at visual angle in the present invention;
Fig. 2 is the overall structure diagram at another visual angle in the present invention;
Fig. 3 is the attachment structure schematic diagram of fixing seat and rotation seat in the present invention;
Fig. 4 is the structural schematic diagram that installing mechanism is clamped in the present invention;
Fig. 5 is the structural schematic diagram of guide rail in the present invention;
Fig. 6 is the structure enlargement diagram in the area A in the present invention;
Fig. 7 is the structural schematic diagram of clip claw assembly in the present invention;
Fig. 8 is the structural schematic diagram of radiator in the present invention;
Fig. 9 is overall structure main view of the invention.
In figure: 1, fixing seat;10, rotation seat;100, motor axis hole;11, first servo motor;12, pinion gear;13, big Gear;14, telescopic chute;15, through-hole;16, spacer pin;2, the first joint;20, the second servo motor;3, principal arm;30, third is watched Take motor;4, second joint;40, the first fixed block;41, connecting column;42, the second fixed block;43, fixation hole;44, the 4th servo Motor;45, clip claw assembly;450, casing;4500, screw hole;451, lead screw;452, pull rod;4520, empty slot;453, fixture;454, Strut;455, rubber antiskid head;5, support base;50, electric machine support;51, the first rocking bar;52, the second rocking bar;53, rocking bar motor; 54, fixed link;6, radiator;60, shell is protected;61, back cover;62, decelerating motor;63, fan;64, cut a smart figure;65, it puts Arm;7, elevating mechanism;70, footing;71, elevating lever;72, limit hole;8, installing mechanism is clamped;80, guide rail;800, sliding slot; 801, lockable mechanism;802, square hole;8010, connecting rod;8011, lock tongue;8012, return spring;8013, anti-flake;81, fixture block; 810, non-slip groove;811, fastener is slided;82, pull rod;820, circular hole.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Fig. 1-9 is please referred to, the present invention provides a kind of technical solution:
The surface of a kind of multi-angle mount type industrial carrying machine people, including fixing seat 1, fixing seat 1 are equipped with rotation seat 10, The surface of rotation seat 10 is equipped with first servo motor 11, and the output shaft of first servo motor 11 passes through the motor shaft on rotation seat 10 Hole 100 is simultaneously coaxially provided with pinion gear 12 between rotation seat 10 and fixing seat 1, the side of pinion gear 12 be equipped with gear wheel 13 and with Gear wheel 13 engages, and the top of gear wheel 13 is fixedly connected with rotation seat 10, and the bottom end of gear wheel 13 and the rotation of fixing seat 1 connect It connects, is rotated by first servo motor 11 with moving gear 12, so that the gear wheel 13 engaged be driven to rotate, make rotation seat 10 The rotation of 360 ° omni-directional can be carried out along fixing seat 1, the surface of rotation seat 10 is equipped with the first joint 2,2 one end of the first joint It is rotatablely connected equipped with principal arm 3 and with one end of principal arm 3, one end of principal arm 3, which is equipped with second joint 4 and rotates with second joint 4, to be connected It connects, one end of second joint 4 is equipped with the first fixed block 40, and the side of the first fixed block 40 is equipped with the second fixed block in parallel 42, the four corners of the second fixed block 42 are equipped with fixation hole 43, and are fixedly connected between fixation hole 43 by four connecting columns 41, The side in the first joint 2 is equipped with the second servo motor 20 for driving principal arm 3 to rotate, and one end side wall of principal arm 3, which is equipped with, to be used In the third servo motor 30 for driving second joint 4 to rotate, pass through the second servo motor 20 and third servo motor 30 band respectively The rotation in dynamic first joint 2 and second joint 4 enables entire 3 Three Degree Of Freedom of principal arm activity, simulates the joint knot of human arm Structure plays excellent effect and precision during industrial carrying.
The 4th servo motor 44 is equipped between first fixed block 40 and the second fixed block 42, one end of the second fixed block 42 is set There is clip claw assembly 45, clip claw assembly 45 includes the lead screw 451 being fixedly connected with 44 output shaft of the 4th servo motor, lead screw 451 It is equipped with casing 450 at one end and is threadedly coupled with the screw hole 4500 in casing 450, the outer wall section of casing 450 is ellipse, set One end of pipe 450 passes through the second fixed block 42 and is slidably connected with it, is fixedly connected with a pull rod in the other end of casing 450 452, the two sides of pull rod 452 are equipped with two fixtures 453, and one end of two fixtures 453 is mutually rotatablely connected by shaft, in pull rod 452 centers offer the empty slot 4520 for sliding along shaft, and one end of pull rod 452 is rotatably connected to two struts 454, and two One end of strut 454 is rotatablely connected with one end of two fixtures 453 respectively, and it is anti-to be equipped with rubber in the end of two fixtures 453 Slippery fellow 455 drives lead screw 451 to rotate, enables the casing 450 of ellipse along the second fixed block 42 by the 4th servo motor 44 Carry out it is lateral freely be retracted and stretches out, move forward and backward being retracted with pulling pull rod 452 in telescopic process, utilize strut 454 Tightening force control two fixtures 453 clamping and release, by the 4th servo motor 44 cooperate lead screw 451 be driven, energy So that the clamping of fixture 453 is accurate to micron, when being clamped to article will not damage product, and be driven abrasion it is small, use Service life is long, and rubber antiskid head 455 can also effectively increase frictional force when clamping, prevents from skidding.
The four corners of rotation seat 10 are equipped with elevating mechanism 7, and elevating mechanism 7 includes four elevating levers 71, every elevating lever 71 are separately mounted to be slidably connected in the telescopic chute 14 that 1 four corners of fixing seat open up and respectively with corresponding telescopic chute 14, and every Several limit holes 72 are equidistantly uniformly offered on elevating lever 71, are offered on the side wall of fixing seat 1 and 71 position phase of elevating lever Corresponding through-hole 15, through-hole 15 is interior to be equipped with the spacer pin 16 mating with through-hole 15 and limit hole 72, by making elevating lever 71 Raising and lowering controls the height of entire robot in telescopic chute 14, makes robot that can freely adjust height, is being adjusted to Being inserted into corresponding limit hole 72 after the height needed with spacer pin 16 can be completed fixation, not only easy to operate, and lifting is stablized, And applicability of the robot when carrying to different cargos is substantially increased, completes height without other machines It adjusts, lifting is realized using inexpensive mode, considerably increases the market competitiveness and production cost.
The surface of rotation seat 10 is equipped with support base 5, and the top of support base 5 is equipped with radiator 6, and support base 5 is equipped with electricity Machine support 50, the top of electric machine support 50 are equipped with rocking bar motor 53, and the output shaft of rocking bar motor 53 is equipped with the second rocking bar 52 simultaneously It is rotatablely connected with one end of the second rocking bar 52, one end of the second rocking bar 52 is equipped with the first rocking bar 51 and one end with the first rocking bar 51 Rotation connection, radiator 6 include going out for protection shell 60, the back cover 61 for protecting 60 one end of shell and protection 60 other end of shell The inside of public attention 64, protection shell 60 is equipped with decelerating motor 62, and the output shaft of decelerating motor 62 and the fan 63 of one end are coaxial It is fixedly connected, is equipped with swing arm 65, one end of one of swing arm 65 and the one of the first rocking bar 51 in the two sides of protection shell 60 End rotation connection, another 65 side of swing arm are equipped with fixed link 54 and are rotatablely connected with one end of fixed link 54, fixed link 54 The other end is fixed on support base 5, and radiator 6 drives fan 63 quickly to rotate by decelerating motor 62, to generate strength Wind is blown out in 64 from cutting a smart figure, and rocking bar motor 53 drives the second rocking bar 52 using motor shaft as circular rotatable, to pass through the One rocking bar 51 drives swing arm 65 to swing with the principle of crank rocker, makes entire radiator 6 under the rotation of 54 one end of fixed link Realization is swung up and down, it is only necessary to and a realization of radiator 6 radiates to the motor and joint-friction in each joint of entire robot, Great amount of cost has been saved, robot is made uniformly to radiate during the work time, has increased the service life of robot.
The bottom end of rotation seat 10 is equipped with clamping installing mechanism 8, and clamping installing mechanism 8 includes on 1 bottom surface both side wall of fixing seat Guide rail 80 and guide rail 80 between vertically disposed two fixture blocks 81, be equipped with non-slip groove on the opposite facade of two fixture blocks 81 810, sliding slot 800 is offered on the inner wall of guide rail 80, and the both ends of fixture block 81 are equipped with the sliding being slidably connected with sliding slot 800 Fastener 811, several lockable mechanisms 801 are uniformly equidistantly equipped on the inner wall of sliding slot 800, and the surface of guide rail 80 is equipped with pull rod 82, circular hole 820 corresponding with 801 position of lockable mechanism is offered on pull rod 82, lockable mechanism 801 includes connecting rod 8010 and lock Tongue 8011, the one side of lock tongue 8011 are to face directly, and another side is cambered surface, is offered on the inner wall of sliding slot 800 and 8011 position of lock tongue Corresponding square hole 802, lock tongue 8011 are slidably connected with square hole 802, and solid by the inner wall of return spring 8012 and square hole 802 Fixed connection, connecting rod 8010 pass through guide rail 80 and are slidably connected with circular hole 820, and being additionally provided in one end of connecting rod 8010 prevents from circular hole The anti-flake 8013 deviate from 820, need to be fixed on complicated position carry out in use, by two fixture blocks 81 along guide rail to Centre promotes, and sliding fastener 811 touches the cambered surface of lock tongue 8011, lock tongue during along sliding slot 800 to center movement 8011 stress are retracted into square hole 802, while connecting rod 8010 is retracted into circular hole 820, cross a lock tongue in sliding fastener 811 When 8011, under the elastic force of return spring 8012 lock tongue 8011 pop-up reset, at this time lock tongue 8011 face directly prevent fixture block 81 to Outer movement can constantly make fixture block can not only be on level land with any part in some machines that is fixedly clamped to center movement On installed and used, can be mounted in other mechanisms and be used with any angle, and dismantle simple, need to only pull up drawing Bar 82 pulls all lock tongues 8011 to make its retraction, fixture block 81 can be made to unclamp, operation under the Anti-extrusion effect of anti-flake 8013 Simply, the distance between fixture block 81 can be arbitrarily adjusted, any different mechanism is realized and clamps installation, is had very strong suitable Ying Xing.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification is only the present invention Preference, be not intended to limit the invention, without departing from the spirit and scope of the present invention, the present invention also has various Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute Attached claims and its equivalent thereof.

Claims (9)

1. a kind of multi-angle mount type industrial carrying machine people, including fixing seat (1), it is characterised in that: the fixing seat (1) Surface is equipped with rotation seat (10), and the surface of the rotation seat (10) is equipped with the first joint (2), and described first joint (2) one end is set There is principal arm (3) and be rotatablely connected with one end of principal arm (3), one end of the principal arm (3) is equipped with second joint (4) and closes with second (4) rotation connection is saved, one end of the second joint (4) is equipped with the first fixed block (40), and the one of first fixed block (40) Side is equipped with the second fixed block (42) in parallel, and the four corners of second fixed block (42) are equipped with fixation hole (43), and It is fixedly connected between fixation hole (43) by four connecting columns (41), one end of second fixed block (42) is equipped with clip claw assembly (45), the four corners of the rotation seat (10) are equipped with elevating mechanism (7), and the bottom end of the rotation seat (10) is equipped with clamping installation The surface of mechanism (8), the rotation seat (10) is equipped with support base (5), and the top of the support base (5) is equipped with radiator (6),
The support base (5) is equipped with electric machine support (50), and the top of the electric machine support (50) is equipped with rocking bar motor (53), institute The output shaft for stating rocking bar motor (53) is equipped with the second rocking bar (52) and is rotatablely connected with one end of the second rocking bar (52), described the One end of two rocking bars (52) is equipped with the first rocking bar (51) and is rotatablely connected with one end of the first rocking bar (51).
2. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that: the rotation seat (10) Surface be equipped with first servo motor (11), the output shaft of the first servo motor (11) passes through on the rotation seat (10) Motor axis hole (100), the first servo motor (11) are coaxially provided between the rotation seat (10) and the fixing seat (1) The side of pinion gear (12), the pinion gear (12) is equipped with gear wheel (13), the pinion gear (12) and the gear wheel (13) Engagement, the top of the gear wheel (13) are fixedly connected with rotation seat (10), the bottom end and fixing seat (1) of the gear wheel (13) Rotation connection.
3. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that: first joint (2) side is equipped with the second servo motor (20) for driving principal arm (3) to rotate, and sets on one end side wall of the principal arm (3) There is the third servo motor (30) for driving second joint (4) to rotate, first fixed block (40) and described second are fixed The 4th servo motor (44) is equipped between block (42).
4. multi-angle mount type industrial carrying machine people according to claim 3, it is characterised in that: the clip claw assembly (45) include the lead screw (451) being fixedly connected with the 4th servo motor (44) output shaft, be equipped at one end of the lead screw (451) Casing (450) is simultaneously threadedly coupled with the screw hole (4500) in described sleeve pipe (450), and the outer wall section of described sleeve pipe (450) is ellipse Circle, one end of described sleeve pipe (450) passes through second fixed block (42) and is slidably connected with it, in described sleeve pipe (450) The other end be fixedly connected with a pull rod (452).
5. multi-angle mount type industrial carrying machine people according to claim 4, it is characterised in that: the pull rod (452) Two sides be equipped with two fixtures (453), one end of two fixtures (453) is mutually rotatablely connected by shaft, in pull rod (452) center offers the empty slot (4520) for sliding along shaft, and one end of the pull rod (452) is rotatably connected to two supports Bar (454), one end of two struts (454) is rotatablely connected with one end of two fixtures (453) respectively, in two fixtures (453) end is equipped with rubber antiskid head (455).
6. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that: the radiator It (6) include the back cover (61) and described protection shell (60) other end of protection shell (60), described protection shell (60) one end Cut a smart figure (64), it is described protection shell (60) inside be equipped with decelerating motor (62), the output shaft of the decelerating motor (62) with The fan (63) of one end is fixedly and coaxially connected, and is equipped with swing arm (65) in the two sides of protection shell (60), one of them One end of the swing arm (65) and one end of first rocking bar (51) are rotatablely connected, another described swing arm (65) side is equipped with Fixed link (54) is simultaneously rotatablely connected with one end of fixed link (54), and the other end of the fixed link (54) is fixed on support base (5) On.
7. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that: the elevating mechanism It (7) include four elevating levers (71), what the every elevating lever (71) was separately mounted to that the fixing seat (1) four corners open up stretches It is slidably connected in contracting slot (14) and respectively with corresponding telescopic chute (14), is uniformly equidistantly opened up on the every elevating lever (71) Have several limit holes (72), offers through-hole corresponding with the elevating lever (71) position on the side wall of the fixing seat (1) (15), the spacer pin (16) mating with the through-hole (15) and limit hole (72) is equipped in the through-hole (15).
8. multi-angle mount type industrial carrying machine people according to claim 1, it is characterised in that: the clamping fitting machine Structure (8) includes vertically disposed two between guide rail (80) and the guide rail (80) on the fixing seat (1) bottom surface both side wall Fixture block (81) is equipped with non-slip groove (810) on the opposite facade of two fixture blocks (81), opens up on the inner wall of the guide rail (80) Have sliding slot (800), and the both ends of fixture block (81) are equipped with the sliding fastener (811) being slidably connected with sliding slot (800).
9. multi-angle mount type industrial carrying machine people according to claim 8, it is characterised in that: the sliding slot (800) Inner wall on be uniformly equidistantly equipped with several lockable mechanisms (801), the surface of the guide rail (80) is equipped with pull rod (82), described Circular hole (820) corresponding with the lockable mechanism (801) position, lockable mechanism (801) packet are offered on pull rod (82) Connecting rod (8010) and lock tongue (8011) are included, is offered on the inner wall of the sliding slot (800) corresponding with lock tongue (8011) position Square hole (802), the lock tongue (8011) are slidably connected with square hole (802), and pass through return spring (8012) and square hole (802) Inner wall is fixedly connected, and the connecting rod (8010) passes through guide rail (80) and is slidably connected with circular hole (820), in the connecting rod (8010) One end be additionally provided with the anti-flake (8013) for preventing deviating from from the circular hole (820).
CN201711284331.2A 2017-12-07 2017-12-07 A kind of multi-angle mount type industrial carrying machine people Active CN107838943B (en)

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CN201711284331.2A CN107838943B (en) 2017-12-07 2017-12-07 A kind of multi-angle mount type industrial carrying machine people

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WO2019109295A1 (en) * 2017-12-07 2019-06-13 无锡艾度科技有限公司 Industrial carrying robot installed in multiple angles
CN108672961B (en) * 2018-05-17 2020-09-15 江苏理工学院 Multifunctional tool clamp for laser remanufacturing of blade irregular curved surface thin-wall part

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CN204997665U (en) * 2015-10-09 2016-01-27 温州职业技术学院 Four degree of freedom low pressure electric appliances transfer robots
CN105459090A (en) * 2016-01-04 2016-04-06 江苏科技大学 Instructive six-degree-of-freedom carrying manipulator
CN205799576U (en) * 2016-07-18 2016-12-14 佛山市联智新创科技有限公司 A kind of robot for pcb board carrying
CN206105828U (en) * 2016-08-26 2017-04-19 杨海荣 Longmen lifting machinery hand system
KR20170068660A (en) * 2015-12-09 2017-06-20 현대중공업 주식회사 Robot capable of preventing damage of cable
CN206588975U (en) * 2017-03-29 2017-10-27 李正生 A kind of mechanical grip for machine-building

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
CN204997665U (en) * 2015-10-09 2016-01-27 温州职业技术学院 Four degree of freedom low pressure electric appliances transfer robots
KR20170068660A (en) * 2015-12-09 2017-06-20 현대중공업 주식회사 Robot capable of preventing damage of cable
CN105459090A (en) * 2016-01-04 2016-04-06 江苏科技大学 Instructive six-degree-of-freedom carrying manipulator
CN205799576U (en) * 2016-07-18 2016-12-14 佛山市联智新创科技有限公司 A kind of robot for pcb board carrying
CN206105828U (en) * 2016-08-26 2017-04-19 杨海荣 Longmen lifting machinery hand system
CN206588975U (en) * 2017-03-29 2017-10-27 李正生 A kind of mechanical grip for machine-building

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